Merged in paulpatience/nuttx (pull request #16)

Added MB7040 sonar.

drivers/sensors/Kconfig

@@ -24,6 +24,13 @@ config LIS331DL
 	select I2C
 	select I2C_TRANSFER
 
+config MB7040
+	bool "MaxBotix MB7040 Sonar support"
+	default n
+	select I2C
+	---help---
+		Enable driver support for the MaxBotix MB7040 sonar.
+
 config MPL115A
 	bool "Freescale MPL115A Barometer Sensor support"
 	default n

drivers/sensors/Make.defs

@@ -69,6 +69,10 @@ ifeq ($(CONFIG_LM92),y)
   CSRCS += lm92.c
 endif
 
+ifeq ($(CONFIG_MB7040),y)
+  CSRCS += mb7040.c
+endif
+
 endif # CONFIG_I2C
 
 # These drivers depend on SPI support

drivers/sensors/mb7040.c

+/****************************************************************************
+ * drivers/sensors/mb7040.c
+ * Character driver for the MaxBotix MB7040 Sonar
+ *
+ *   Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
+ *   Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <errno.h>
+#include <debug.h>
+#include <stdlib.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/fs/fs.h>
+#include <nuttx/i2c.h>
+#include <nuttx/sensors/mb7040.h>
+
+#if defined(CONFIG_I2C) && defined(CONFIG_MB7040)
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct mb7040_dev_s
+{
+  FAR struct i2c_dev_s *i2c;  /* I2C interface */
+  uint8_t               addr; /* I2C address */
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+/* I2C Helpers */
+
+static int mb7040_measurerange(FAR struct mb7040_dev_s *priv);
+static int mb7040_readrange(FAR struct mb7040_dev_s *priv,
+                            FAR uint16_t *range);
+static int mb7040_changeaddr(FAR struct mb7040_dev_s *priv, uint8_t addr);
+
+/* Character Driver Methods */
+
+static int     mb7040_open(FAR struct file *filep);
+static int     mb7040_close(FAR struct file *filep);
+static ssize_t mb7040_read(FAR struct file *filep, FAR char *buffer,
+                           size_t buflen);
+static ssize_t mb7040_write(FAR struct file *filep, FAR const char *buffer,
+                            size_t buflen);
+static int     mb7040_ioctl(FAR struct file *filep, int cmd,
+                            unsigned long arg);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct file_operations g_fops =
+{
+  mb7040_open,
+  mb7040_close,
+  mb7040_read,
+  mb7040_write,
+  NULL,
+  mb7040_ioctl
+#ifndef CONFIG_DISABLE_POLL
+  , NULL
+#endif
+#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
+  , NULL
+#endif
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: mb7040_measurerange
+ *
+ * Description:
+ *   Command the device to measure the range.
+ *
+ ****************************************************************************/
+
+static int mb7040_measurerange(FAR struct mb7040_dev_s *priv)
+{
+  uint8_t regaddr;
+  int ret;
+
+  regaddr = MB7040_RANGE_REG;
+  sndbg("addr: %02x\n", regaddr);
+
+  /* Write the register address */
+
+  I2C_SETADDRESS(priv->i2c, priv->addr, 7);
+  ret = I2C_WRITE(priv->i2c, &regaddr, sizeof(regaddr));
+  if (ret < 0)
+    {
+      sndbg("I2C_WRITE failed: %d\n", ret);
+    }
+
+  return ret;
+}
+
+/****************************************************************************
+ * Name: mb7040_readrange
+ *
+ * Description:
+ *   Read the range last measured by the device. The units are centimeters.
+ *
+ ****************************************************************************/
+
+static int mb7040_readrange(FAR struct mb7040_dev_s *priv,
+                            FAR uint16_t *range)
+{
+  uint8_t buffer[2];
+  int ret;
+
+  /* Read two bytes */
+
+  I2C_SETADDRESS(priv->i2c, priv->addr, 7);
+  ret = I2C_READ(priv->i2c, buffer, sizeof(buffer));
+  if (ret < 0)
+    {
+      sndbg("I2C_READ failed: %d\n", ret);
+      return ret;
+    }
+
+  *range = (uint16_t)buffer[0] << 8 | (uint16_t)buffer[1];
+  sndbg("range: %04x ret: %d\n", *range, ret);
+  return ret;
+}
+
+/****************************************************************************
+ * Name: mb7040_changeaddr
+ *
+ * Description:
+ *   Change the device's I2C address.
+ *
+ ****************************************************************************/
+
+static int mb7040_changeaddr(FAR struct mb7040_dev_s *priv, uint8_t addr)
+{
+  uint8_t buffer[3];
+  int ret;
+
+  sndbg("new addr: %02x\n", addr);
+
+  /* Sanity check */
+
+  DEBUGASSERT((addr & 1) == 0);
+  DEBUGASSERT(addr != 0x00 && addr != 0x50 && addr != 0xa4 && addr != 0xaa);
+
+  /* Set up a 3-byte message to send */
+
+  buffer[0] = MB7040_ADDRUNLOCK1_REG;
+  buffer[1] = MB7040_ADDRUNLOCK2_REG;
+  buffer[2] = addr;
+
+  /* Write the register address followed by the data (no RESTART) */
+
+  I2C_SETADDRESS(priv->i2c, priv->addr, 7);
+  ret = I2C_WRITE(priv->i2c, buffer, sizeof(buffer));
+  if (ret < 0)
+    {
+      sndbg("I2C_WRITE failed: %d\n", ret);
+      return ret;
+    }
+
+  priv->addr = addr;
+  return ret;
+}
+
+/****************************************************************************
+ * Name: mb7040_open
+ *
+ * Description:
+ *   This method is called when the device is opened.
+ *
+ ****************************************************************************/
+
+static int mb7040_open(FAR struct file *filep)
+{
+  return OK;
+}
+
+/****************************************************************************
+ * Name: mb7040_close
+ *
+ * Description:
+ *   This method is called when the device is closed.
+ *
+ ****************************************************************************/
+
+static int mb7040_close(FAR struct file *filep)
+{
+  return OK;
+}
+
+/****************************************************************************
+ * Name: mb7040_read
+ *
+ * Description:
+ *   A dummy read method.
+ *
+ ****************************************************************************/
+
+static ssize_t mb7040_read(FAR struct file *filep, FAR char *buffer,
+                           size_t buflen)
+{
+  return 0;
+}
+
+/****************************************************************************
+ * Name: mb7040_write
+ *
+ * Description:
+ *   A dummy write method.
+ *
+ ****************************************************************************/
+
+static ssize_t mb7040_write(FAR struct file *filep, FAR const char *buffer,
+                            size_t buflen)
+{
+  return -ENOSYS;
+}
+
+/****************************************************************************
+ * Name: mb7040_ioctl
+ *
+ * Description:
+ *   The standard ioctl method.
+ *
+ ****************************************************************************/
+
+static int mb7040_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
+{
+  FAR struct inode        *inode = filep->f_inode;
+  FAR struct mb7040_dev_s *priv  = inode->i_private;
+  int                      ret   = OK;
+
+  /* Handle ioctl commands */
+
+  switch (cmd)
+    {
+      /* Command the device to measure the range. Arg: None. */
+
+      case SNIOC_MEASURE:
+        DEBUGASSERT(arg == 0);
+        ret = mb7040_measurerange(priv);
+        break;
+
+      /* Read the range last measured by the device. Arg: int32_t* pointer. */
+
+      case SNIOC_RANGE:
+        {
+          FAR int32_t *ptr   = (FAR int32_t *)((uintptr_t)arg);
+          uint16_t     range = 0;
+          DEBUGASSERT(ptr != NULL);
+          ret = mb7040_readrange(priv, &range);
+          if (ret == OK)
+            {
+              *ptr = (int32_t)range;
+            }
+          sndbg("range: %04x ret: %d\n", *ptr, ret);
+        }
+        break;
+
+      /* Change the device's I2C address. Arg: uint8_t value. */
+
+      case SNIOC_CHANGEADDR:
+        ret = mb7040_changeaddr(priv, (uint8_t)arg);
+        sndbg("new addr: %02x ret: %d\n", *(uint8_t *)arg, ret);
+        break;
+
+      /* Unrecognized commands */
+
+      default:
+        sndbg("Unrecognized cmd: %d arg: %ld\n", cmd, arg);
+        ret = -ENOTTY;
+        break;
+    }
+
+  return ret;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: mb7040_register
+ *
+ * Description:
+ *   Register the MB7040 character device as 'devpath'.
+ *
+ * Input Parameters:
+ *   devpath - The full path to the driver to register, e.g., "/dev/sonar0".
+ *   i2c     - An I2C driver instance.
+ *   addr    - The I2C address of the MB7040.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int mb7040_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c,
+                    uint8_t addr)
+{
+  FAR struct mb7040_dev_s *priv;
+  int ret;
+
+  /* Sanity check */
+
+  DEBUGASSERT(i2c != NULL);
+
+  /* Initialize the device's structure */
+
+  priv = (FAR struct mb7040_dev_s *)kmm_malloc(sizeof(*priv));
+  if (priv == NULL)
+    {
+      sndbg("Failed to allocate instance\n");
+      return -ENOMEM;
+    }
+
+  priv->i2c  = i2c;
+  priv->addr = addr;
+
+  /* Register the character driver */
+
+  ret = register_driver(devpath, &g_fops, 0666, priv);
+  if (ret < 0)
+    {
+      sndbg("Failed to register driver: %d\n", ret);
+      kmm_free(priv);
+    }
+
+  return ret;
+}
+
+#endif /* CONFIG_I2C && CONFIG_MB7040 */

include/nuttx/sensors/mb7040.h

+/****************************************************************************
+ * include/nuttx/sensors/mb7040.h
+ *
+ *   Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
+ *   Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_SENSORS_MB7040
+#define __INCLUDE_NUTTX_SENSORS_MB7040
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/fs/ioctl.h>
+
+#if defined(CONFIG_I2C) && defined(CONFIG_MB7040)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+/* Configuration ************************************************************
+ * Prerequisites:
+ *
+ * CONFIG_I2C
+ *   Enables support for I2C drivers
+ * CONFIG_MB7040
+ *   Enables support for the MB7040 driver
+ */
+
+/* IOCTL Commands ***********************************************************/
+
+#define SNIOC_MEASURE          _SNIOC(0x0001) /* Arg: None */
+#define SNIOC_RANGE            _SNIOC(0x0002) /* Arg: int32_t* pointer */
+#define SNIOC_CHANGEADDR       _SNIOC(0x0003) /* Arg: uint8_t value */
+
+/* I2C Addresses ************************************************************/
+
+#define MB7040_DEFAULTADDR     0x70 /* Default I2C Address */
+
+/* Register Definitions *****************************************************/
+/* Register Addresses */
+
+#define MB7040_RANGE_REG       0x51
+#define MB7040_ADDRUNLOCK1_REG 0xaa
+#define MB7040_ADDRUNLOCK2_REG 0xa5
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+struct i2c_dev_s;
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: mb7040_register
+ *
+ * Description:
+ *   Register the MB7040 character device as 'devpath'
+ *
+ * Input Parameters:
+ *   devpath - The full path to the driver to register, e.g., "/dev/sonar0".
+ *   i2c     - An I2C driver instance.
+ *   addr    - The I2C address of the MB7040.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int mb7040_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c,
+                    uint8_t addr);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CONFIG_I2C && CONFIG_MB7040 */
+#endif /* __INCLUDE_NUTTX_SENSORS_MB7040 */